DE102015213743A1 - Method and system for automatically controlling at least one follower vehicle with a scout vehicle - Google Patents

Abstract

The invention relates to a method for automatically controlling at least one follower vehicle (1) in which a scout trajectory is generated for a scout vehicle (2), the scout vehicle (2) being guided along an actual trajectory (201) by means of sensors (11) of the scout vehicle (2), the actual trajectory (201) of the scout vehicle (2) and scout environment data (202) are detected. For the follower vehicle (1), a desired trajectory (204) is generated and by means of sensors (21) of the follower vehicle (1) follower vehicle environmental data (203) are detected. The scout trajectory and scout environment data (202) are transmitted to the follower vehicle (1) and, if the detected actual trajectory (201) and the generated desired trajectory (204) each have at least a certain trajectory similarity to the generated scout trajectory and when the follower vehicle environment data (203) has at least some environmental data similarity to the scout environment data (202), an automatic control of the follower vehicle (1) along the desired trajectory (204) is activated. The invention further relates to a system for automatically controlling at least one follower vehicle (2) with a scout vehicle (1).

Description

The invention relates to a method for automatic control of at least one follower vehicle. It further relates to a system for automatically controlling at least one following vehicle with a scout vehicle.

In order to increase efficiency and safety in transport and logistics, especially in the transport of goods, but also in the passenger transport industry, a far-reaching automation of vehicles is sought. For this purpose, techniques are already known that relieve the driver by automatic intervention on different levels in the control of a vehicle or perform individual driving maneuvers fully automatically. This ranges from remote control to the autonomous driving off of a route through a vehicle.

The DE 10 2005 059 517 A1 describes such a system for guiding and operating a vehicle without a driver, wherein data from sensors of the vehicle are forwarded to an operations center and transmitted from the operations center mission data for controlling the vehicle thereon. In this case, a data transmission between the vehicle and the operations center is assumed in approximate real-time or a possibly occurring time delay is technically compensated.

In the in the DE 10 2013 212 255 A1 described method checks a first vehicle with a sensor a space relative to the first vehicle and transmits the result of the review to a second vehicle. As a result, it can be informed, for example, whether a space in the vicinity of the first vehicle is free and whether a shearing can be carried out.

In the in the DE 10 2013 225 011 A1 described method is matched in a highly automated moving motor vehicle own position with external data about a current traffic situation and decided whether a change in the driving condition is required. In particular, it is detected whether the vehicle is approaching an obstacle or an otherwise not automatically passable section of road. This can lead to the termination of the automated drive. For example, a blockage of a road section lying ahead of the vehicle can be processed for the automated journey, or a traffic jam message can be used to terminate the highly automated journey in good time.

A central requirement for the safe operation of such systems, however, is a high degree of redundancy in the security measures used. Typically, the automatic performance of a maneuver requires the presence of a driver who can monitor the movement of the vehicle and intervene to correct it. This prevents, in particular, malfunctions of the system, for example in the case of defective sensors or in unusual traffic situations.

If the system is to be operated without a driver being provided for each vehicle, then high-level redundancies must be provided on a technical level. This is achieved, for example, by the installation of a large number of sensors, some of which are designed several times, in the vehicle. However, the possibilities of integrating sensors in a vehicle are spatially limited, and considerable additional costs can arise.

It is an object of the present invention to provide a method and system for automatically controlling at least one follower vehicle in which redundant, highly automated control is achieved.

According to the invention this object is achieved by a method having the features of claim 1 and a system having the features of claim 12. Advantageous embodiments and further developments emerge from the dependent claims.

In the method according to the invention, a scout trajectory is generated for a scout vehicle. The scout vehicle is guided along an actual trajectory, wherein the actual trajectory of the scout vehicle and scout environment data are detected by means of sensors of the scout vehicle. For the following vehicle, a desired trajectory is generated and follower vehicle environmental data are acquired by means of sensors of the following vehicle. Subsequently, the scout trajectory and scout environment data are transmitted to the follower vehicle. If the detected actual trajectory and the generated target trajectory each have at least a certain trajectory similarity to the generated scout trajectory and if the follower vehicle environment data has at least a certain environmental data similarity to the scout environment data, an automatic control of the follower vehicle along the target Trajectory activated.

The route to be traveled is therefore checked in several stages for their trafficability. The combination of a scout vehicle, which decides on the automatic traversability of a trajectory, and a follower vehicle, which checks the data of the scout vehicle at the moment of driving, a high degree of redundancy and thus advantageously a high level of security is achieved. It checks if the target trajectory is automatic is to be traveled by the following vehicle, has been assessed by the scout vehicle to be mobile, and it is constantly checked whether the conditions have changed on the track since the evaluation by the scout vehicle.

In this document, a "trajectory" is a movement path along which one of the participating vehicles can travel. In particular, it may be understood to mean actually driven and planned movement paths. In particular, the trajectory may be arbitrarily long or short, for example, it may include a section of track on a lane or a longer route between two geographical positions.

In the first step, a route, for example a public road, a route within a closed area or in a building, is driven by a scout vehicle. In this case, a scout trajectory is initially generated, for example by a scheduler or a navigation system of the scout vehicle. The scout trajectory corresponds to a calculated movement path of the vehicle. The guidance of the vehicle takes place along an actual trajectory, which does not necessarily correspond exactly to the theoretical scout trajectory. This may be due, for example, to the fact that the vehicle must avoid obstacles, such as other vehicles, or that the actual conditions of the route do not correspond exactly to the cartographic output data for planning the scout trajectory. In particular, a manual vehicle guidance can be carried out, for example by a driver or by remote control.

The actual trajectory along which the scout vehicle is actually moving is detected, it being possible to use, for example, satellite-based systems, but also other methods known per se for determining position and route. In particular, the actual trajectory is detected so that a comparison with the scout trajectory can be performed. In this comparison, a trajectory similarity is determined by which the degree of similarity is quantified. Thus, it can be checked to what extent the actually traded actual trajectory coincides with the automatically calculated scout trajectory, ie whether an automatic control using the generated scout trajectory would have led to a drivable trajectory. In particular, this corresponds to an autopilot of the vehicle in a "passive test mode", which serves to check the autopilot's decisions. The generated scout trajectory must be sufficiently similar to the actual trajectory actually driven in order to be evaluated as passable.

Further, the scout vehicle includes sensors that sense scout environment data. These environmental data characterize the route traveled, that is to say they concern, for example, the characteristics of the terrain being traveled, for example the course of the route, lane markings or the condition of the floor covering, signs, buildings, plants and landscape features in the surroundings of the route. The sensors used are known per se and can be combined as desired.

After the scout vehicle has traveled the trajectory, the data collected during this trip are used to check whether the following vehicle can also drive the trajectory. First, a desired trajectory is generated, for example by a scheduler of the following vehicle, along which the following vehicle is to be automatically controlled. In particular, the scout vehicle and the follower vehicle may include similar or functionally identical schedules which, under the same conditions, functionally calculate at least approximately identical trajectories. However, different trip planners can be used.

In the following vehicle, the desired trajectory is compared with the scout trajectory, wherein at least sections of the trajectories are considered. A trajectory similarity is generated which, in a manner analogous to the comparison of the scout trajectory with the actual trajectory, quantitatively indicates the degree of similarity. It can thus be determined whether the desired trajectory substantially coincides with the scout trajectory driven by the scout vehicle.

Further, the follower vehicle includes sensors analogous to the scout vehicle, are detected by the follower vehicle environment data. These sensors can detect substantially the same features of the track and the environment as the sensors of the scout vehicle, however, not necessarily the same sensor types are used and the number of sensors can differ. Importantly, the follower vehicle environmental data and the scout environment data provide comparable results, for example by identifying the position of structures at the edge of the route.

The scout environment data and the follower vehicle environment data are compared with each other in the following vehicle, and an environment data similarity is determined. By checking the proximity of the surroundings, it can be ensured that the following vehicle is actually on the same trajectory as the scout vehicle and it can be checked whether and to what extent the characteristics of the route to be traveled change after being driven by the scout vehicle.

In order to decide whether a trajectory can certainly be traveled automatically by the following vehicle, for example, threshold values for the trajectory similarities and for the environmental data similarity can be defined. If the similarities are large enough, the automatic control of the following vehicle for the desired trajectory is activated or the trajectory is released for automatic driving.

In particular, the following vehicle acquires further data for automatic control. For this purpose, further sensors may be present or the same sensors may be used as for the adjustment with the scout environment data. For example, data about moving objects in the vicinity of the follower vehicle can be detected, from which the following vehicle must keep distance or avoid it. These data are not relevant for comparison with the scout environment data because they are not characteristics of the traveled route, but depend on the individual vehicle and typically change at short notice.

In one embodiment of the method according to the invention, the scout vehicle is manually guided by a scout driver. This advantageously decides a human driver on the ride of the scout vehicle. It is assumed that the scout driver leads the scout vehicle along a trajectory, which is also suitable in principle for the automatic control of the follower vehicle. The scout driver is located in particular in the scout vehicle, but the scout vehicle can also be performed via a remote control, for example, from a command center, as in the DE 10 2005 059 517 A1 described.

In a further embodiment, if the environmental data similarity does not exceed the determined value, a safe driving mode of the following vehicle is activated. This advantageously ensures that the following vehicle is guided safely on a trajectory which is unsuitable for automatic control.

For example, the environment data similarity may no longer reach the determined threshold if the route has changed after the scout vehicle has acquired the scout environment data. For example, a construction site or a barrier in an accident can lead to the need to resort to a different lane and the alternative route is no longer rated as automatically mobile. In particular, in the safe driving mode, the speed of the vehicle can be reduced, possibly until the vehicle stops at a suitable location. Further, a driver of the follower vehicle may be notified and take over the manual control of the follower vehicle, where the driver may be in the follower vehicle or the follower vehicle may be remotely controlled.

In a further development, the automatic control of the follower vehicle comprises a control of the movement of the follower vehicle in the longitudinal and transverse directions. As a result, the direction and speed of the following vehicle can advantageously be controlled along a trajectory.

The data, by which the target trajectory is assessed as automatically drivable, can be transmitted directly from the scout vehicle to the following vehicle. Typically, this results in a small time delay between the detection of the scout environment data and the following vehicle environment data. It can therefore be assumed that only minor changes will occur unless sudden events occur, such as an accident in the event of an accident.

In one embodiment, data on the scout trajectory and / or data on the target trajectory and / or scout environment data and / or follower vehicle environment data is transmitted to an external server and stored by the server. This indirect transmission of the data advantageously allows the respective data to be managed at a central location and made available in a flexible manner. It may also be a preparation of the scout environment data on the external server.

In a further embodiment, the external server transmits data to the scout trajectory and / or scout environment data to the follower vehicle. In this way, the data necessary for balancing the trajectories and environmental data can be made centrally available to the following vehicle.

The data by which the target trajectory is evaluated as automatically mobile, in this case can be managed by the server and the follower vehicle can drive the trajectory with a greater time interval from the scout vehicle. The storage can take place for a longer or shorter period, wherein in particular the characteristic of different scout environment data can be taken into account. For example, billboards can change their appearance and therefore lose their meaningfulness after a certain time, while about the location of a billboard per se in the longer term can be characteristic of the environment of the trajectory.

By storing in particular the environment data captured by the scout vehicle and the follower vehicle on the server, environmental data of several vehicles can also be stored and combined, for example at different times. This allows the scout environment data provided by the server to be updated, such as when the appearance of planting at the edge of a line changes or when new structures are created. An updating method can thereby be provided which automatically recognizes smaller changes and undertakes a corresponding update, while in the case of major changes, the scout environment data of the trajectory must be recaptured by a manually guided scout vehicle and a reassessment of the automatic negotiability of the trajectory is undertaken got to.

Further, for a longer distance that has not been driven as a whole by a scout vehicle, the scout environment data may be combined with scout environment data from multiple scout vehicles. For example, the longer route can be subdivided into a plurality of partial trajectories, for each of which there are scout environment data from different scout vehicles.

In a further development, the sensors of the scout vehicle and / or the sensors of the following vehicle capture image data. As a result, the sensor data are advantageously suitable for interpretation by a human observer, such as to check the automatic extraction of features or to check the suitability of the route for automatic driving.

The image data can be detected by methods known per se, for example by the detection of light in the visible range or by infrared cameras. Furthermore, image data can be generated by other detection methods or combined with other data, such as by using ultrasound, radar or lidar.

In one embodiment, if the environmental data similarity does not exceed the determined value, follower vehicle environmental data is transmitted to a decision location and control data is transmitted from the decision location to the succeeding vehicle. This advantageously allows a decision-making body, in particular a human decision-maker, to support the function of the system.

If the required similarity of the scout and follower vehicle environment data is not given, for example because changes have been made to structures in the vicinity of the trajectory or because a new trajectory speed limit has been established, the automatic control of the following vehicle will not be automatically released. Furthermore, differences in detection of the environmental data by sensors and devices of the scout vehicle and the follower vehicle may occur, such as when one of the systems misinterprets a traffic sign or when traits of the planting are interpreted differently at the edge of the trajectory. This can be favored by changes in visibility or weather conditions.

In this case, the decision about the automatic traversability of the trajectory can be handed over to a decision point and, for this purpose, follower vehicle environmental data can be transmitted to the decision point. The decision-making body here is an entity which can make a decision about the automatic trafficability and / or can transmit further signals for controlling the following vehicle to it. This may be, for example, a driver of the follower vehicle or of the scout vehicle, but also a user in an operations center who is displayed the detected environment data and activates the automatic control of the vehicle or activates manual control (possibly remote control) of the follower vehicle.

In a further embodiment, the scout environment data and / or the follower vehicle environment data relate to traffic structures and / or traffic signs. As a result, relevant features of the trajectory are advantageously recorded for traffic regulation and traffic infrastructure.

The environment data may also include an interpretation beyond the mere external description of the features of the environment of the trajectory. For example, it can be determined on the basis of image data of traffic signs whether there is a speed limit, a passing ban or a certain right of way regulation. Even if the signage has changed since being detected by the scout vehicle, the validity of a particular traffic control can be detected as an essential feature. In particular, the abstraction of the content of a traffic sign from its outer shape enables the consideration of dynamic traffic guidance systems, such that changed statuses of a traffic light circuit or a variable speed limit do not cause the environmental data similarity to reach the determined value and an automatic drive is considered unsafe.

In a further development, priorities for deviations between the scout environment data and the follower vehicle environment data are determined and the environmental data similarity is determined in Depend on the priorities generated. This advantageously ensures that the environmental data similarity is determined on the basis of relevant characteristics of the trajectory.

Different deviations can be weighted differently. For example, lane-laying on a roadway may be weighted higher than a pavement marking (such as through snow) or a tree that has changed appearance or been felled since being detected by the scout vehicle. The distinction of features that are relevant to the safety of an automatic control of the follower vehicle and those that are less relevant or only in combination with each other, allowing for robust against minor changes operation of the system.

If the scout and follower vehicle environment data is transferred to and stored on an external server, the environment data may also be updated based on the priorities. For example, low-priority features, such as changing the planting at the edge of a route, can be changed based on current data, while more relevant changes, such as laying a lane, can not safely re-enable automatic driving when the scout environment data is re-detected were.

In one embodiment, scout vehicle data about features of the scout vehicle will also project beyond the follower vehicle, and automatic control of the follower vehicle will be further activated in response to the scout vehicle data. Thus, it can be advantageously judged whether the scout environment data acquired by the scout vehicle is relevant to the following vehicle.

For example, a height restriction relevant to one scout vehicle may not be relevant to a following vehicle of another type. In addition, different traffic regulations such as speed limits or overtaking bans can only apply to certain vehicle types.

In the system according to the invention for the automatic control of at least one follower vehicle, a scout vehicle comprises a scout scheduler, by which a scout trajectory for the scout vehicle can be generated, a scout control device, by which the scout vehicle along an actual trajectory feasible, and sensors by which the actual trajectory and Scout environment data can be detected. In this case, the follower vehicle comprises a follower vehicle scheduler, by means of which a desired trajectory for the following vehicle can be generated, sensors by which follower vehicle environment data can be detected, and a follower vehicle control device, by which the follower vehicle can be controlled along the desired trajectory. At least one trajectory similarity to the generated scout trajectory can be determined on the basis of the detected actual trajectory and the generated desired trajectory. The scout trajectory and scout environment data can be transmitted to the follower vehicle, and an environment data similarity can be determined based on the follower vehicle environment data and the scout environment data. Finally, depending on the environmental data similarity, an automatic control of the following vehicle along the desired trajectory can be activated.

The system according to the invention is in particular designed to implement the method described above. The system thus has the same advantages as the method according to the invention.

In a further development, follower vehicle environmental data can also be transmitted to the scout vehicle and control data can be transmitted from the scout vehicle to the follower vehicle. As a result, the driver of the scout vehicle can advantageously be output follower vehicle environment data and he can intervene in the control of the follower vehicle.

Such an intervention can take place, in particular, if a safe automatic drive of the following vehicle is not possible. However, the intervention may also consist in activating the automatic of the following vehicle, for example when the driver of the scout vehicle estimates the traveled trajectory as safely passable.

In a further embodiment, the system further comprises an external server, which is at least temporarily connected to the scout vehicle and / or the follower vehicle for data purposes. Data about the scout trajectory and / or scout environment data and / or follower vehicle environment data can be stored by the external server. As a result, the exchange of data can advantageously take place independently of a direct connection between scout vehicle and follower vehicle.

In one embodiment, the scout trajectory and the desired trajectory are generated by the scout scheduler and the follower vehicle scheduler to be substantially identical. This advantageously increases the comparability of the trajectories determined by the timers.

The invention will now be explained by means of embodiments with reference to the drawings.

1 shows an embodiment of the system according to the invention,

2 shows an embodiment of the method according to the invention and

3A and 3B show a further embodiment of the method according to the invention.

In reference to 1 an embodiment of the system according to the invention will be explained.

The system includes a scout vehicle 1 , a follower vehicle 2 and an external server 3 , The scout vehicle 1 and the follower vehicle 2 are at least temporarily data technology with the external server 3 connected. The system includes data interfaces for this purpose 10 and 20 of the scout vehicle 1 and the following vehicle 2 , This allows data from the vehicles to the external server 3 transferred, stored there and from the external server 3 be transmitted to the vehicles. In particular, this allows an indirect exchange of data between the scout vehicle 1 and the following vehicle 2 without having a direct connection between the two.

The data connection can in particular be wireless, for example, by a local network or a larger network, such as the Internet. Furthermore, the connection can be made via a telecommunications network, such as a telephone network, or a wireless local area network (WLAN). The connection can also be made indirectly via another unit that can itself connect to the external server. For example, a data connection may exist between the mobile unit and a mobile telephone connected to the Internet, for example by means of a data cable or a radio connection, for example via Bluetooth. In particular, the connection to the external server 3 be made over the internet.

In another embodiment, the scout vehicle 1 and the follower vehicle 2 alternatively or in addition to the external server 3 connected with each other. In this case, the system does not necessarily include the external server 3 , The data exchange can take place directly between vehicles in this case.

The scout vehicle 1 includes a control unit 13 with which the data interface 10 , a timetable 12 and a detection unit 11 are coupled. By the timetable 12 of the scout vehicle 1 will create a scout trajectory. Further, by the detection unit 11 Scout environment data and that of the scout vehicle 1 traced actual trajectory recorded.

The actual trajectory is determined by methods known per se, in particular using the data of a satellite-based location system. Further, other sensors detect the detection unit 11 Image data in the vicinity of the scout vehicle 1 in which infrared cameras are used in addition to sensors for the visible part of the light spectrum. Furthermore, radar and lidar sensors are used. The environmental data includes characteristics in the vicinity of the trajectory traversed such as features of the traveled ground, for example, the route, lane markings or the condition of the flooring, signs, structures, plants and scenic features in the vicinity of the track.

Analogous to the scout vehicle 1 also includes the follower vehicle 2 a control unit 23 that with the data interface 20 , a timetable 22 and a detection unit 21 is coupled. It also includes an autopilot 24 that can control the vehicle automatically. By the registration unit 21 Follower vehicle environmental data is captured.

The automatic control by the autopilot 24 takes place according to known methods, in particular by automatic intervention of the longitudinal and lateral acceleration of the follower vehicle 2 , In this way, the direction and amount of vehicle speed can be controlled. The autopilot goes from one through the timetable 22 of the following vehicle 2 determined target trajectory, however, can actually from the follower vehicle 2 Distinguished trajectory of the target trajectory, such as when obstacles must be compensated or the traffic flow requires a departure from the planned trajectory. The automatic control by the autopilot 24 requires that the automatic control by the control unit 23 has been activated.

Related to the 1 and 2 an embodiment of the method according to the invention will be explained.

The inventive method is in this example by the in 1 implemented system implemented. The representation of the steps by which the method according to the invention is carried out does not necessarily reflect the order of execution of individual steps. These can also be performed with a greater or lesser time interval or simultaneously.

The scout vehicle 1 is guided on an actual trajectory. In the case shown it will be there controlled by a driver who manually controls the steering and speed of the vehicle. In the scout vehicle 1 is done by the scheduler 12 in one step 101 a scout trajectory determined in one step 102 is further determined by the detection unit 11 the actual trajectory is recorded.

In one step 103 Scout and actual trajectory are compared. A trajectory similarity is determined. If this falls below a certain threshold, so in one step 104 the automatically planned trajectory is rated as not safe automatically passable, since the driver is the scout vehicle 1 did not choose the automatically generated scout trajectory. On the other hand, if the threshold value is reached or exceeded, the automatically generated trajectory is evaluated as automatically passable, since the automatic scheduler 12 and the driver of the scout vehicle 1 have chosen the same trajectory.

In one step 105 Scout environment data is collected. Scout environment data collection can be continuous, regardless of the step in step 103 certain trajectory similarity between scout and actual trajectory.

In one step 106 The scout trajectory and scout environment data are sent to the follower vehicle 2 transfer. In particular, only relevant data are transmitted, for example, those scout environment data that have been determined to be particularly characteristic of the course of the scout trajectory, or those parts of the scout trajectory that are relevant to the follower vehicle 2 were recognized relevant. In particular, a bidirectional connection between scout vehicle 1 and follower vehicle 2 to exchange information about the data to be transmitted.

The transmission takes place here as in 1 shown indirectly via the external server 3 , In another embodiment, there is a direct connection between the scout vehicle 1 and the following vehicle 2 ,

In one step 107 is from the scheduler 21 of the following vehicle 2 a desired trajectory for the follower vehicle 2 generated. In a further step 108 the target trajectory and the scout trajectory are compared and a trajectory similarity is determined. Analogous to the comparison of actual and scout trajectory in step 103 determines if that for the following vehicle 2 planned target trajectory of the scout trajectory substantially corresponds. Along with the similarity between the scout trajectory and the scout vehicle 1 traveled actual trajectory is derived from the information, whether the follower vehicle 2 is essentially on the same trajectory as before the scout vehicle 1 ,

If this is not the case, the process breaks down in one step 109 off, since the scout vehicle 1 and the follower vehicle 2 on different trajectories. If, on the other hand, a certain threshold of trajectory similarity is reached, then in one step 110 Follower vehicle environmental data recorded. This is analogous to the detection of the scout environment data by the scout vehicle 1 in step 105 ,

In one step 111 will be the scout environment data in step 106 to the follower vehicle 2 have been transmitted compared with the acquired follower vehicle environment data. For the environmental data similarity, a threshold value is determined, when falling below it in one step 112 the target trajectory is assessed as not safe automatically passable. This means, in particular, that characteristic features of features of the scout trajectory differ for the desired trajectory, that is to say since the vehicle has traveled the track through the scout vehicle 1 Have resulted in changes. It is therefore assumed that characteristics of the trajectory that are relevant to the safety of an automatic drive have also changed and the evaluation of the trajectory by the scout vehicle 1 is outdated.

In particular, a safe driving mode of the following vehicle is thereby 2 activated, in the alternative or in addition to the autopilot 24 a driver takes the lead of the follower vehicle 2 monitors or actively intervenes. In the case shown, this is done by a driver in the following vehicle 2 executed, in other embodiments, the driver can, for example, in the scout vehicle 1 or from an operations center via the external server 3 Control signals to the follower vehicle 2 transfer.

However, if the environmental data similarity reaches a certain threshold, then in one step 113 the automatic control of the following vehicle 2 activated along the desired trajectory. In this case, the autopilot takes over 24 of the following vehicle 2 the control of the follower vehicle 2 in the longitudinal and transverse directions. In particular, this is done on the basis of data provided by the detection unit 21 such as information on positions and the movement of other road users, the course of the road, obstacles on the road and traffic restrictions such as speed restrictions or overtaking bans.

Based on 3A and 3B a further embodiment of the method according to the invention will be explained. The invention Process is in this example by the in 1 implemented system implemented.

First, the scout vehicle drives 1 a distance along the actual trajectory 201 , Meanwhile, the sensors detect the detection unit 11 of the scout vehicle 1 Scout environment data that includes scout landmarks. In the case shown, these are traffic signs on the carriageway and at the edge of the track as well as buildings and landscape features, such as individual trees, in the vicinity of the actual trajectory 201 ,

At the same time the actual trajectory becomes 201 with one by the scheduler 12 of the scout vehicle 1 determined scout trajectory (not shown) and found a high trajectory similarity. That is, the driver, in the example shown, the scout vehicle 1 performs essentially the same trajectory as the scheduler 12 would do this automatically. Therefore, the automatically generated scout trajectory is evaluated as safely passable.

At a later time the following vehicle will be on the way 2 the same route. It is done by the scheduler 22 of the following vehicle 2 a desired trajectory 204 generated and. The scout trajectory is transmitted to the scout vehicle and with the desired trajectory 204 compared.

In the illustrated case, the trajectory similarity is large enough to proceed from substantially similar trajectories.

Further, the scout environment data becomes the follower vehicle 2 transfer. The following vehicle 2 at the same time captures own follower vehicle environmental data and compares them with the scout environment data. Here are some of the scout landmarks 202 with through the follower vehicle 2 recorded follower vehicle landmarks 203 match. For example, trees or traffic signs are detected at the same position.

In a comparison, an environment data similarity is determined, which in the case shown exceeds a previously determined threshold. Therefore, for the following vehicle 2 the automatic control based on the autopilot 24 along the target trajectory 204 activated.

The comparison prioritizes the various features. For example, there are less serious consequences for environmental data similarity when part of the planting at the edge of the line has changed than when the course of a lane has been changed. Further, vehicle data of the scout vehicle 1 takes into account, about its height, with the height of the following vehicle 2 does not have to be identical.

In another embodiment, the external server 3 Scout trajectories and associated scout environment data are stored and sent to a follower vehicle 2 transfer. By means of this central storage, the scout environment data can be expanded and / or updated, for example on the basis of that of the subsequent vehicle 2 detected follower vehicle environment data: this is about detected that one of the scout landmarks 202 is no longer available, for example, because a parked vehicle was moved along the line edge, so on the external server 3 stored record can be adjusted accordingly. A filter algorithm determines whether the changes are minor and therefore an adjustment can be made or whether they are the automatic navigability of the scout trajectory 201 question what a new acquisition of scout environment data along the scout trajectory 201 by a manually operated scout vehicle 1 necessary.

In a further embodiment, by the follower vehicle 2 one of the follower vehicle landmarks 203 not detected with sufficient quality, for example, a road sign in poor visibility conditions can not be read automatically with sufficient certainty. There will now be follower vehicle environment data, in this example image data of the traffic sign, to the scout vehicle 1 whose driver acts as a decision-maker. He can now decide whether the automatic ride can be continued safely and can control signals to the following vehicle 2 transmitted, which reflect the content of the road sign. The decision point can also be accessed via the external server 3 be integrated into the system.

LIST OF REFERENCE NUMBERS

1

Scout car

2

the following vehicle

3

External server

10

Data interface (scout vehicle)

11

Registration unit, sensors (scout vehicle)

12

Timetable (scout vehicle)

13

Control unit (scout vehicle)

20

Data interface (follower vehicle)

21

Registration unit, sensors (follower vehicle)

22

Timetable (follower)

23

Control unit (follower vehicle)

24

Autopilot (follower vehicle)

101

Generation of scout trajectory

102

Acquisition of actual trajectory

103

Comparison of scout and actual trajectory

104

Evaluation of the scout trajectory as non-automated mobile

105

Capture of scout environment data

106

Transmission of scout environment data and scout trajectory

107

Generation of desired trajectory

108

Comparison of scout and target trajectory

109

cancellation

110

Capture follower vehicle environment data

111

Comparison of scout and follower vehicle environment data

112

Assessment of the target trajectory as non-automated mobile

113

Activate automatic control

201

Actual trajectory of the scout vehicle

202

Scout Landmarks, Scout Environment Data

203

Follower vehicle landmarks, follower vehicle environmental data

204

Target trajectory of the follower vehicle

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102005059517 A1 [0003, 0022]
• DE 102013212255 A1 [0004]
• DE 102013225011 A1 [0005]

Claims (15)

Method for automatically controlling at least one follower vehicle ( 2 ), in which for a scout vehicle ( 1 ) a scout trajectory is generated, the scout vehicle ( 1 ) along an actual trajectory ( 201 ), whereby by means of sensors ( 11 ) of the scout vehicle ( 1 ) the actual trajectory ( 201 ) of the scout vehicle ( 1 ) and scout environment data ( 202 ) for the following vehicle ( 2 ) a target trajectory is generated and by means of sensors ( 21 ) of the following vehicle ( 2 ) Follower Vehicle Environment Data ( 203 ) and the scout trajectory and scout environment data ( 202 ) to the following vehicle ( 2 ) and, if the detected actual trajectory ( 201 ) and the generated target trajectory ( 204 ) each have at least a certain trajectory similarity to the generated scout trajectory and, if the follower vehicle environment data ( 203 ) at least some environmental data similarity to the scout environment data ( 202 ), an automatic control of the following vehicle ( 1 ) along the desired trajectory ( 204 ) is activated. Method according to claim 1, characterized in that the scout vehicle ( 1 ) is manually guided by a scout driver. Method according to one of the preceding claims, characterized in that if the environmental data similarity does not exceed the determined value, a safe driving mode of the following vehicle ( 2 ) is activated. Method according to one of the preceding claims, characterized in that the automatic control of the following vehicle ( 2 ) a control of the movement of the follower vehicle ( 2 ) in the longitudinal and transverse directions. Method according to one of the preceding claims, characterized in that data on the scout trajectory and / or data to the desired trajectory ( 204 ) and / or scout environment data ( 202 ) and / or follower vehicle environment data ( 203 ) to an external server ( 3 ) and transmitted by the server ( 3 ) get saved. Method according to claim 5, characterized in that from the external server ( 3 ) Data on the scout trajectory and / or scout environment data ( 202 ) to the following vehicle ( 2 ) be transmitted. Method according to one of the preceding claims, characterized in that the sensors ( 11 ) of the scout vehicle ( 1 ) and / or the sensors ( 21 ) of the following vehicle ( 2 ) Capture image data. Method according to one of the preceding claims, characterized in that, if the environmental data similarity does not exceed the determined value, follower vehicle environmental data ( 203 ) are transmitted to a decision-making point and control data is sent from the decision-making point to the follow-on vehicle ( 2 ) be transmitted. Method according to one of the preceding claims, characterized in that the scout environment data ( 202 ) and / or the follower vehicle environment data ( 203 ) Traffic structures and / or traffic signs. Method according to one of the preceding claims, characterized in that for deviations between the scout environment data ( 202 ) and the follower vehicle environment data ( 203 Priorities are determined and the environmental data similarity is generated depending on the priorities. Method according to one of the preceding claims, characterized in that further Scout vehicle data on properties of the scout vehicle ( 1 ) to the following vehicle ( 2 ) and the automatic control of the following vehicle ( 2 ) is further activated in response to the scout vehicle data. System for automatic control of at least one follower vehicle ( 2 ) with a scout vehicle ( 1 ), the scout vehicle ( 1 ) comprises: - a scout schedule ( 12 ), through which a scout trajectory for the scout vehicle ( 1 ), - a scout control device ( 13 ) through which the scout vehicle ( 1 ) along an actual trajectory ( 201 ), and - sensors ( 11 ), through which the actual trajectory ( 201 ) and scout environment data ( 202 ) are detectable; the following vehicle ( 2 ) comprises: - a follow-up vehicle scheduler ( 22 ), by which a desired trajectory ( 204 ) for the following vehicle ( 2 ), - sensors ( 21 ), by the follower vehicle environment data ( 203 ), and - a follower vehicle control device ( 23 ), by which the following vehicle ( 2 ) along the desired trajectory ( 204 ) is controllable; whereby - based on the detected actual trajectory ( 201 ) and the generated desired trajectory ( 204 ) at least one trajectory similarity to the generated scout trajectory can be determined, - the scout trajectory and scout environment data ( 202 ) to the following vehicle ( 1 ) are transferable, - on the basis of the following vehicle environment data ( 203 ) and the scout environment data ( 202 an environmental data similarity can be determined and, depending on the environmental data similarity, an automatic control of the following vehicle ( 2 ) along the desired trajectory ( 204 ) is activated. System according to claim 12, characterized in that further follower vehicle environmental data ( 204 ) to the scout vehicle ( 1 ) are transferable and control data from the scout vehicle ( 1 ) to the following vehicle ( 2 ) are transferable. System according to one of claims 12 and 13, characterized in that further comprises an external server ( 3 ), which at least at times, in terms of data technology, with the scout vehicle ( 1 ) and / or the following vehicle ( 2 ), by the data on the scout trajectory and / or scout environment data ( 202 ) and / or follower vehicle environment data ( 203 ) are storable. System according to one of claims 12 to 14, characterized in that the scout trajectory and the desired trajectory ( 204 ) by the scout scheduler ( 12 ) and the following vehicle scheduler ( 22 ) are generated so that they are substantially identical.

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